CN111213489A - Picking device adaptable to different row spacing - Google Patents
Picking device adaptable to different row spacing Download PDFInfo
- Publication number
- CN111213489A CN111213489A CN202010029122.9A CN202010029122A CN111213489A CN 111213489 A CN111213489 A CN 111213489A CN 202010029122 A CN202010029122 A CN 202010029122A CN 111213489 A CN111213489 A CN 111213489A
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- Prior art keywords
- oil cylinder
- rod
- support
- picking device
- scissor
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D46/00—Picking of fruits, vegetables, hops, or the like; Devices for shaking trees or shrubs
- A01D46/20—Platforms with lifting and lowering devices
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/06—Endless track vehicles with tracks without ground wheels
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D55/00—Endless track vehicles
- B62D55/08—Endless track units; Parts thereof
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66F—HOISTING, LIFTING, HAULING OR PUSHING, NOT OTHERWISE PROVIDED FOR, e.g. DEVICES WHICH APPLY A LIFTING OR PUSHING FORCE DIRECTLY TO THE SURFACE OF A LOAD
- B66F11/00—Lifting devices specially adapted for particular uses not otherwise provided for
- B66F11/04—Lifting devices specially adapted for particular uses not otherwise provided for for movable platforms or cabins, e.g. on vehicles, permitting workmen to place themselves in any desired position for carrying out required operations
Abstract
The invention provides a picking device suitable for different row spacings, which comprises a crawler chassis, a lifting unit and a human station operation unit, wherein the crawler chassis is provided with a plurality of rows; the lifting unit comprises a rack, a first scissor-type lifting mechanism and a container; the people operation unit of standing includes support frame, slide rail, slider, support sill bar, hydro-cylinder link, sideslip hydro-cylinder, second cut fork elevating system and people platform of standing. The picking device provided by the invention can adjust the left and right movement of the operation unit of the personnel station according to different row distances in an orchard, is suitable for forest and fruit operation areas with larger row distances or inconsistent row distances, adopts a symmetrical structural design, is flexible in movement and strong in bearing capacity, and has the advantages of simple and compact structure, good processing and assembling process and the like.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a picking device suitable for different row spacings.
Background
Along with the continuous enlargement of orchard planting scale in China, the degree of operation mechanization is improved. However, in the face of complex terrains such as different row spacings, hilly and mountainous areas and the like, many problems exist, for example, the efficiency of mechanized operations is low, the cost of labor force is high, the safety of operators cannot be guaranteed, and the risk and the cost of operations are increased.
In the prior art, an electric remote control track multifunctional lifting picking platform with a track type chassis combined with a motor as a driving system is adopted, a scissor-fork type lifting mechanism is connected with an operation platform to realize a lifting function, the whole structure is compact, the walking and steering are flexible, and the operation is stable and easy; in addition, the split orchard picking platform comprises a walking device, machine cases, an operating pedal, a protective side plate, a driving system and a control system, the number of the machine cases can be installed according to the height of fruit trees, and the machine cases are distributed in a cylindrical shape, so that the occupied area can be effectively reduced, and the machine cases are convenient to place; in addition, the movable adjustable fruit picking lifting platform consisting of the frame, the collecting mechanism and the supporting wheel set is stable in structure, has a lifting function, has strong adaptability to fruit trees with different heights, is high in picking efficiency, and can avoid one-time up-and-down transportation and convenient use because fruits are not required to be placed on the picking platform after being picked.
However, the existing orchard picking device cannot be suitable for forest and fruit operation areas with large row spacing or inconsistent row spacing, and the function is relatively single.
Disclosure of Invention
The invention provides a picking device applicable to different row distances, which is used for solving the problem that the existing orchard picking device is difficult to adapt to forest and fruit operation areas with larger row distances or inconsistent row distances.
The invention provides a picking device suitable for different row spacings, which comprises a crawler chassis, a lifting unit and a human station operation unit, wherein the crawler chassis is provided with a plurality of rows; the crawler chassis is arranged below the lifting unit, and one side of the lifting unit is connected with the personnel station operation unit;
the lifting unit comprises a rack, a first scissor-type lifting mechanism and a container; the rack is arranged above the crawler chassis, the first scissor type lifting mechanism is arranged above the rack, and the container is arranged above the first scissor type lifting mechanism;
the human station operation unit comprises a support frame, a slide rail, a slide block, a support bottom rod, an oil cylinder connecting frame, a transverse moving oil cylinder, a second scissor-fork type lifting mechanism and a human station platform;
the support frame is connected with the side face of the container through an L-shaped flange, the slide rail comprises a first rail and a second rail which are respectively arranged on two side edges of the support frame perpendicular to the advancing direction of the picking device, and the slide block is arranged at a groove of a side plate of the slide rail;
the supporting bottom rods comprise a first supporting bottom rod and a second supporting bottom rod, the first supporting bottom rod and the second supporting bottom rod are respectively arranged at two ends of the slide rail and are perpendicular to the slide rail, two ends of the first supporting bottom rod are fixedly connected with the slide block, and two ends of the second supporting bottom rod are fixedly connected with the slide rail side plate;
the oil cylinder connecting frame comprises a first oil cylinder connecting frame and a second oil cylinder connecting frame, the first oil cylinder connecting frame is Z-shaped, the top end of the first oil cylinder connecting frame is connected with the first supporting bottom rod, the bottom end of the first oil cylinder connecting frame is connected with the telescopic end of the transverse moving oil cylinder, the second oil cylinder connecting frame is rectangular, the top end of the second oil cylinder connecting frame is connected with the second supporting bottom rod, and the bottom end of the second oil cylinder connecting frame is connected with the fixed end of the transverse moving oil cylinder;
the bottom of the second scissor-type lifting mechanism is fixedly connected with the sliding block, and the people standing platform is arranged above the second scissor-type lifting mechanism.
Furthermore, the first supporting bottom rod is in a stepped shaft shape, and the diameter of the first supporting bottom rod is gradually reduced from the middle to two sides.
Further, the second scissor type lifting mechanism comprises an upper connecting rod and a lower connecting rod, the bottom end of the lower connecting rod is fixedly connected with the sliding block, the other end of the lower connecting rod is connected with one end of the upper connecting rod, and the other end of the upper connecting rod is connected with the personnel station platform through a hinged support.
Furthermore, a T-shaped support rod is further arranged in the middle of the second scissor type lifting mechanism, the T-shaped support rod is arranged in parallel along the advancing direction of the picking device, two ends of the T-shaped support rod are fixedly connected with the second scissor type lifting mechanism, the bottom end of the T-shaped support rod is connected with the telescopic end of a lifting oil cylinder, and the fixed end of the lifting oil cylinder is fixedly connected with the support frame.
Further, the people station platform includes people station bottom plate and people station platform rail, people station platform rail one side is provided with control operation platform and machines pendant case.
Further, the people station platform is provided with foot-operated pedals, which comprise a first pedal, a second pedal and a third pedal.
Further, the lifting unit further comprises an oil cylinder, the telescopic end of the oil cylinder is connected with an upper oil cylinder support, the fixed end of the oil cylinder is connected with a lower oil cylinder support, the two ends of the upper oil cylinder support are connected with the first scissor-fork type lifting mechanism, and the two ends of the lower oil cylinder support are fixedly connected with the frame.
Furthermore, the lifting unit further comprises an oil cylinder supporting rod, the oil cylinder supporting rod is of a left disc type structure and a right disc type structure, the telescopic end of the oil cylinder is connected with one end of the oil cylinder supporting rod, and the other end of the oil cylinder supporting rod is connected with the upper oil cylinder support.
Further, the crawler chassis comprises a crawler, a driving chain wheel, a speed reducer, a motor, a storage battery, a tension wheel, a connecting plate, a driven chain wheel and a bearing wheel;
the driving chain wheel is arranged at one end of the crawler chassis, the outer teeth of the driving chain wheel are meshed with the inner teeth of the crawler, the driving chain wheel is connected with the speed reducer, the speed reducer is connected with the motor, the storage battery is connected with the motor, the tensioning wheel is arranged at the rear side of the motor, the tensioning wheel is connected with the connecting plate, the driven chain wheel is arranged at the other end of the crawler chassis, the outer teeth of the driven chain wheel are meshed with the inner teeth of the crawler, and the bearing wheel is arranged at the bottom of the crawler chassis.
Further, the crawler chassis further comprises a hydraulic station, and the hydraulic station comprises an oil pipe, a hydraulic pump and a hydraulic valve.
The invention provides a picking device suitable for different row distances, which can adjust the position of a human station operation platform according to different row distances in an orchard by driving a transverse moving oil cylinder to move so that an operator can operate in the orchard with larger row distances or different row distances; secondly, an operator operates the vehicle-mounted controller to drive the oil cylinder to extend and move, the oil cylinder pushes the first scissor-type lifting mechanism to ascend so as to drive the personnel station operation unit and the container to ascend together, the operation can also be adjusted according to the height of a fruit tree, the first pedal is started to drive the lifting oil cylinder to extend and move, and the lifting oil cylinder pushes the second scissor-type lifting mechanism to ascend so as to realize that the personnel station operation unit continuously ascends by 500mm on the basis of the original height so as to meet the requirement of high-altitude operation; then, the driving chain wheel of each crawler chassis is provided with the respective motor, the driving chain wheels can be independently controlled, the flexibility of the picking device during walking is greatly improved, and the motors are supplied with electric power through the storage battery, so that the picking device is green, environment-friendly, pollution-free and noise-free; finally, the crawler chassis is used as a walking device, can be more suitable for operation in complex terrains such as hilly and mountainous areas, and is higher in stability.
Drawings
Fig. 1 is a schematic view of an overall structure of a picking apparatus adaptable to different row spacings according to an embodiment of the present invention;
FIG. 2 is a schematic structural view of a one-side crawler chassis of a picking apparatus adaptable to different row spacings according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a lifting unit of a picking apparatus adaptable to different row spacings according to an embodiment of the present invention;
FIG. 4a is a left side view of a man station operating unit in a picking apparatus adaptable to different row spacings according to one embodiment of the present invention;
FIG. 4b is a schematic diagram of a human station operation unit in a picking apparatus adaptable to different row spacings according to an embodiment of the present invention;
description of reference numerals:
the device comprises a crawler chassis 1, a frame 2, a first scissor type lifting mechanism 3, a container 4, a personnel station platform 5, a second scissor type lifting mechanism 6 and a support frame 7;
the device comprises a chassis frame 101, a driving chain wheel 102, a driving chain wheel shaft 103, a speed reducer 104, a motor 105, a tensioning chain wheel 106, a tensioning chain wheel shaft 107, a connecting plate 108, a battery 109, a controller 110, an oil pipe 111, a hydraulic station 112, a driven chain wheel 113, a driven wheel shaft 114, a crawler belt 115, a triangular connecting frame 116, a bearing wheel 117 and a bearing wheel shaft 118;
a lower cylinder bracket 202, a lower support shaft 203, a cylinder 204, a cylinder support rod 205, an upper cylinder bracket 206, a connecting plate 207, a cargo box enclosure 208, a cargo box floor 209, a slide rail 210, a slider 211, an electronic display 212, a mounting bracket 213, a pressure sensor 214, and an L-shaped flange 215;
the system comprises a first oil cylinder connecting frame 301, a first supporting bottom rod 302, a sliding block 303, a lower connecting rod 304, an upper connecting rod 305, a hinged support 306, a people standing platform side plate 307, a foot operation pedal 308, a vehicle-mounted control platform 309, a people standing platform fence 310, a lifting oil cylinder 311, a transverse oil cylinder 312, a T-shaped supporting rod 313, a pin shaft 314 and an implement hanging box 315.
Detailed Description
Reference will now be made in detail to the exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, like numbers in different drawings represent the same or similar elements unless otherwise indicated. The implementations described in the exemplary embodiments below are not intended to represent all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with certain aspects of the present disclosure, as detailed in the appended claims.
The embodiment provides a picking device capable of adapting to different row spacings, which comprises a crawler chassis 1, a lifting unit and a human station operation unit, as shown in figure 1; the crawler chassis 1 is arranged below the lifting unit, and one side of the lifting unit is connected with the personnel station operation unit;
the lifting unit comprises a frame 2, a first scissor type lifting mechanism 3 and a container 4;
the frame 2 is arranged above the crawler chassis 1, the first scissor type lifting mechanism 3 is welded above the frame 2 through a structural square tube, and the container 4 is welded above the first scissor type lifting mechanism 3 through a structural square tube;
the personnel station operation unit comprises a personnel station platform 5, a second scissor type lifting mechanism 6 and a support frame 7.
The support frame 7 is located the packing box 4 front end, and support frame 7 top is provided with second and cuts fork elevating system 6, and people station platform 5 welds in second and cuts fork elevating system 6 top.
The crawler chassis comprises two groups, the two groups have the same structure, and the left crawler chassis is taken as an example for description, as shown in fig. 2, the crawler chassis 1 comprises a chassis frame 101, a driving sprocket 102, a driving sprocket shaft 103, a speed reducer 104, a motor 105, a tensioning sprocket 106, a tensioning sprocket shaft 107, a connecting plate 108, a battery 109, a controller 110, an oil pipe 111, a hydraulic station 112, a driven sprocket 113, a driven sprocket shaft 114, a crawler 115, a triangular connecting frame 116, a bearing wheel 117 and a bearing wheel shaft 118.
The chassis frame 101 is used for supporting the crawler belt 115 and installing and fixing components in the crawler belt chassis 1, the driving chain wheel 102 comprises two gears, key grooves are formed in the gears and are fixedly connected with the two sides of the driving chain wheel shaft 103 through keys, the driving chain wheel shaft 103 is installed on the chassis frame 101 through a bearing seat, the outer teeth of the driving chain wheel 102 are meshed with the inner teeth of the crawler belt 115, and the driving chain wheel 102 drives the crawler belt 115 to rotate so that the picking device moves forwards;
the rear side of the driving sprocket 102 is connected with a speed reducer 104, the speed reducer 104 is fixed on the chassis frame 101 through bolts, and the speed reducer 104 mainly plays a role in reducing speed and increasing torque; the reducer 104 is a worm gear reducer, and has two left and right reducers, which are respectively connected with two gears and can respectively and independently control the driving sprocket 102. The other end of the speed reducer 104 is connected with an output shaft of a motor 105, the motor 105 is fixed on the chassis frame 101 through a motor mounting bracket, the motor 105 is a direct-current brush motor, the direct-current brush motor is a low-voltage high-power motor and has a large starting current, and large output power is provided for the crawler chassis 1 conveniently. The tension chain wheels 106 are respectively arranged at the left and the right, the two tension chain wheels at one side are connected by a connecting plate 108 and are fixed on the chassis frame 101; the tensioning sprocket 106 primarily functions to adjust the tension of the track 115. The storage battery 109 is connected with the motor 105 and used for providing power for the motor 105, and the storage battery 109 is a storage battery, can be repeatedly charged and discharged, is economical and environment-friendly, and cannot cause life hazard accidents to operating personnel; the battery 109 is also connected with the controller 110 through a power conversion module. The hydraulic station 112 is a small-sized hydraulic station, is arranged at the rear end of the chassis frame 101 and provides a power source for an oil cylinder in the device, the hydraulic station 112 comprises an oil pipe 111, a hydraulic pump and a hydraulic valve, and the oil cylinder is connected with the hydraulic station 112 through the oil pipe 111. The driven chain wheel 113 comprises two gears, key slots are arranged in the gears and are fixedly connected with the two sides of a driven chain wheel shaft 114 through keys, external teeth of the driven chain wheel 113 are meshed with internal teeth of a crawler belt 115, the driven chain wheel 113 is driven to rotate through the crawler belt 105, and the driven chain wheel shaft 114 is arranged on the chassis frame 101 through a bearing seat; the bearing wheel 117 includes two bearing wheels equally, and the centre is connected fixedly through the bearing wheel hub, and crawler chassis 1 includes 6 bearing wheels 117 altogether, and the triangle link is provided with 3 altogether, and every triangle link 116 connects two bearing wheels that are located one side and fixes it on chassis frame 101, mainly plays the effect of bearing chassis gravity.
As shown in fig. 3, the lifting unit includes a frame 2, a lower cylinder bracket 202, a lower support shaft 203, a cylinder 204, a cylinder support rod 205, an upper cylinder bracket 206, a connection plate 207, a container fence 208, a container floor 209, a slide rail 210, a slider 211, an electronic display 212, a mounting bracket 213, a pressure sensor 214, and an L-shaped flange 215.
Two sides of the frame 2 parallel to the advancing direction of the picking device are provided with slide rails 210, the first scissor type lifting mechanism 3 comprises two sets of parallel connection plates 207, two sets of the mutual intersection form the first scissor type lifting mechanism 3, the intersection position is fixed through an intermediate connecting piece, the upper end and the lower end of the two parallel connection plates 207 are connected through support shafts, wherein one set of support shafts are respectively fixed below the frame 2 and the container bottom plate 209, the other set of support shafts are installed in the slide rails 210 through sliders 211, the sliders 211 can move left and right in the slide rails 210, wherein the support shafts are not all shown in fig. 3, and the number of the lower support shafts connecting the bottom ends of the sliding connection plates is 203.
The lower oil cylinder support 202 is fixedly mounted on a bottom plate of the frame 2, an upper oil cylinder support 206 is further arranged in the middle of a group of connecting plate members 207 which are arranged in a sliding mode, the fixed end of an oil cylinder 204 is connected with the lower oil cylinder support 202, the telescopic end of the oil cylinder 204 is fixed with the upper oil cylinder support 206 through a bolt, the oil cylinder 204 comprises an oil inlet hole and an oil outlet hole, the oil inlet hole is connected with the hydraulic station 112 through an oil pipe 111, the hydraulic station 112 controls the telescopic amount of the oil cylinder 204, and the oil cylinder 204 is selected to be a; the oil cylinder support rod 205 is of a left and right double-disc type structure, two threaded holes with different sizes are formed in a disc of the oil cylinder support rod, a hinge is formed by a small hole and a contraction rod of the oil cylinder 204, a large hole is formed in the middle of the upper oil cylinder support 206, the upper oil cylinder support 206 is of a round bar-shaped structure, threads are arranged at two ends of the upper oil cylinder support 206 and connected with the first scissor-type lifting mechanism 3 through threads, and the first scissor-type lifting mechanism 3 is enabled to achieve a lifting function by driving the upper oil cylinder support 206 to move through stretching of the.
The container 4 is a rectangular mechanism and comprises a container bottom plate 209 and an integrally arranged container fence 208, and the container 4 is welded with the first scissor-type lifting mechanism 3 and used for storing picked fruits and the like; the side plate at the front part of the cargo box 4 is provided with a pressure sensor 214 and an electronic display 212, the pressure sensor 214 and the electronic display 212 are arranged on the cargo box fence 208 through a mounting bracket 213, the weight of the fruit in the cargo box 4 is detected through the pressure sensor 214, and the weight information is displayed on the electronic display 212; an L-shaped flange 215 is welded under the front side panel of the cargo box enclosure 208 for attachment to the personnel station work unit.
As shown in fig. 4a, the people standing operation unit further comprises a lifting cylinder 311, a traversing cylinder 312, a support rod 313, a pin 314 and an implement hanging box 315;
as shown in fig. 4b, the human station operation unit comprises a support frame 7 (not shown in the figure), a cylinder connecting frame 301, a support bottom rod 302, a slide block 303, a lower connecting rod 304, an upper connecting rod 305, a hinged support 306, a human station platform side plate 307, a foot operation pedal 308, a vehicle-mounted control platform 309 and a human station platform fence 310;
the support frame 7 is connected to the cargo box enclosure 208 by an L-shaped flange 215, which is not shown for clarity of construction of the man-station work unit, but is best seen in fig. 1. Sliding rails are arranged above two side edges of the support frame 7 perpendicular to the advancing direction of the picking device, each sliding rail comprises a first rail and a second rail which are respectively arranged on the two side edges of the support frame perpendicular to the advancing direction of the picking device, each sliding rail comprises a sliding block 303, and each sliding block 303 is arranged at a groove of a side plate of each sliding rail; similar to the first scissor lift mechanism 3, the second scissor lift mechanism 6 comprises two sets of parallel upper connecting rods 304 and lower connecting rods 305, the two sets of parallel upper connecting rods 304 and lower connecting rods 305 are mutually crossed and connect the end parts of the upper connecting rods and the lower connecting rods to form the second scissor lift mechanism 6, the upper end of the second scissor lift mechanism 6 is connected and fixed on a hinged support 306 through a pin shaft 314, the middle of the second scissor lift mechanism is fixedly connected together through a supporting rod to realize lifting synchronous movement, and the lower end of the second scissor lift mechanism is fixed in a groove of a sliding rail through a sliding block.
The slide rail is also provided with a support bottom rod, the support bottom rod comprises a first support bottom rod 302 and a second support bottom rod (not shown in the figure), and the first support bottom rod 302 and the second support bottom rod are respectively arranged at two ends of the slide rail, two ends of the first support bottom rod 302 are fixedly connected with the slide block 303, and two ends of the second support bottom rod are fixedly connected with the slide rail side plate; the supporting bottom rod 302 is in a stepped shaft shape, the diameter of the supporting bottom rod is gradually reduced from the middle to two sides, and the end part of the supporting bottom rod is provided with threads and is fixedly connected with the sliding block 303; the transverse moving oil cylinder connecting frame comprises a first oil cylinder connecting frame 301 and a second oil cylinder connecting frame (not shown in the figure), the first oil cylinder connecting frame 301 is arranged in a Z shape, the top end of the first oil cylinder connecting frame is connected with the first supporting bottom rod 302 through threads, and the bottom end of the first oil cylinder connecting frame is connected with the telescopic end of the transverse moving oil cylinder 312; the second oil cylinder connecting frame is rectangular, the top end of the second oil cylinder connecting frame is connected with the second supporting bottom rod, the bottom end of the second oil cylinder connecting frame is connected with the fixed end of the transverse moving oil cylinder 312, the installation direction of the transverse moving oil cylinder 312 is parallel to the sliding rail, the left-right moving amount of the personnel station operation unit is controlled by controlling the expansion amount of the transverse moving oil cylinder 312, and the transverse moving oil cylinder 312 is a hydraulic oil cylinder; two ends of the T-shaped support rod 313 are fixed on the second scissor type lifting mechanism 6 through threads, a threaded through hole is formed in the bottom end of the T-shaped support rod and is connected with the output threaded end portion of the lifting oil cylinder 311, the fixed end of the lifting oil cylinder 311 is connected and fixed with the support frame 7, and the lifting height of the personnel station operation unit is controlled by controlling the telescopic amount of the lifting oil cylinder 311.
The personnel station platform comprises a bottom plate and a personnel station platform fence 310, the personnel station platform fence 310 is arranged around the bottom plate, a rotating hinge is arranged on the rear side of the personnel station platform fence 310, the side is convenient to open and close, and a sheet metal part is welded at the bottom of the personnel station platform fence 310 and used for protecting the safety of operators; the left side of a platform fence 310 of a human station is provided with a vehicle-mounted control table 309 and an implement hanging box 315, the vehicle-mounted control table 309 is provided with ascending, descending, steering and emergency stop buttons, wherein the ascending and descending are the same button, the front pressing state is the ascending function, the rear pressing state is the descending function, the ascending function and the descending function of the first scissor-type lifting mechanism 3 are respectively realized, the steering button is an 8-direction operating handle, the steering function of the crawler chassis 1 is controlled by controlling the rotating speeds of two motors through the steering of the operating handle, an operator presses the emergency stop button when the working environment is in a dangerous condition, and the picking device can realize the emergency descending and restore to the original state; a control panel is arranged in the vehicle-mounted control console 309, the vehicle-mounted control console 309 transmits control information to the single chip microcomputer through 485 communication, the single chip microcomputer transmits received signals to the controller 110, and the controller 110 controls the rotating speed of the motor 105 to achieve the functions of adjusting the running speed and walking and steering.
The tool pendant box 315 is used for placing operation tools used by an operator, and the tool pendant box 315 is provided with a plurality of power plug interfaces for the operation tools to be charged;
the bottom plate is provided with three pedal operation panels 308 which are a first pedal, a second pedal and a third pedal respectively, wherein the first pedal controls the lifting of the operation unit of the personnel station, the second pedal controls the transverse movement of the operation unit of the personnel station, and the third pedal is an emergency stop console when encountering high-altitude dangerous operation.
The crawler chassis provided by the invention also comprises a control system, wherein the control system comprises two controllers 110 and two motor drivers, the drivers are respectively used for driving the two motors 105, the output ends of the motor drivers are connected with the motors 105, and the motors 105 are controlled by receiving pulse signals sent by the controllers 110; the vehicle-mounted console 309 or the foot operation pedal 308 transmits information to the single chip microcomputer, the single chip microcomputer transmits received signals to the electric controller of the hydraulic station 112, the electric controller controls the operation of the hydraulic station 112, and the telescopic movement of the oil cylinder is controlled by controlling the inlet and outlet amount of hydraulic oil in the oil tank.
When the harvesting device that this embodiment provided gets into orchard operation: firstly, according to the heights of different fruit trees, an operator presses a lifting button of a lower load controller on a man station operation platform to drive an oil cylinder to extend and move, the oil cylinder pushes a first scissor-type lifting mechanism to lift, thereby driving the operation unit of the personnel station and the cargo box to ascend together, when the operation unit ascends to the designated height, the operators can carry out high-altitude operations such as pruning, picking, pesticide spraying and the like on the platform, when a fruit tree is higher, the first pedal is started to drive the lifting oil cylinder to extend and move, the lifting oil cylinder pushes the second scissor type lifting mechanism to move upwards, thereby realizing that the human station operation unit continuously rises for 500mm on the basis of the original height so as to meet the requirement of high-altitude operation, when the orchard is operated at a larger row spacing, the second pedal can be started to drive the transverse moving oil cylinder to extend and move, therefore, the left and right movement of the human station operation unit is realized, and the operators can conveniently operate in the orchard with large row spacing.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
1. A picking device suitable for different row spacings is characterized by comprising a crawler chassis, a lifting unit and a people standing operation unit; the crawler chassis is arranged below the lifting unit, and one side of the lifting unit is connected with the personnel station operation unit;
the lifting unit comprises a rack, a first scissor-type lifting mechanism and a container; the rack is arranged above the crawler chassis, the first scissor type lifting mechanism is arranged above the rack, and the container is arranged above the first scissor type lifting mechanism;
the human station operation unit comprises a support frame, a slide rail, a slide block, a support bottom rod, an oil cylinder connecting frame, a transverse moving oil cylinder, a second scissor-fork type lifting mechanism and a human station platform;
the support frame is connected with the side face of the container through an L-shaped flange, the slide rail comprises a first rail and a second rail which are respectively arranged on two side edges of the support frame perpendicular to the advancing direction of the picking device, and the slide block is arranged at a groove of a side plate of the slide rail;
the supporting bottom rods comprise a first supporting bottom rod and a second supporting bottom rod, the first supporting bottom rod and the second supporting bottom rod are respectively arranged at two ends of the slide rail and are perpendicular to the slide rail, two ends of the first supporting bottom rod are fixedly connected with the slide block, and two ends of the second supporting bottom rod are fixedly connected with the slide rail side plate;
the oil cylinder connecting frame comprises a first oil cylinder connecting frame and a second oil cylinder connecting frame, the first oil cylinder connecting frame is Z-shaped, the top end of the first oil cylinder connecting frame is connected with the first supporting bottom rod, the bottom end of the first oil cylinder connecting frame is connected with the telescopic end of the transverse moving oil cylinder, the second oil cylinder connecting frame is rectangular, the top end of the second oil cylinder connecting frame is connected with the second supporting bottom rod, and the bottom end of the second oil cylinder connecting frame is connected with the fixed end of the transverse moving oil cylinder;
the bottom of the second scissor-type lifting mechanism is fixedly connected with the sliding block, and the people standing platform is arranged above the second scissor-type lifting mechanism.
2. Picking device adaptable to different row spacings according to claim 1, characterized in that the first support bottom bar is stepped shaft shaped, the diameter of the first support bottom bar gradually decreasing from the middle to the two sides.
3. The picking device adaptable to different row spacings as claimed in claim 1, wherein the second scissor lift mechanism comprises an upper connecting rod and a lower connecting rod, the bottom end of the lower connecting rod is fixedly connected with the sliding block, the other end of the lower connecting rod is connected with one end of the upper connecting rod, and the other end of the upper connecting rod is connected with the people standing platform through a hinged support.
4. The picking device applicable to different row spacings according to claim 1, wherein a T-shaped support rod is further arranged in the middle of the second scissor type lifting mechanism, the T-shaped support rods are arranged in parallel along the advancing direction of the picking device, two ends of each T-shaped support rod are fixedly connected with the second scissor type lifting mechanism, the bottom end of each T-shaped support rod is connected with the telescopic end of a lifting oil cylinder, and the fixed end of each lifting oil cylinder is fixedly connected with the support frame.
5. Picking device adaptable to different row spacings according to claim 1, characterized in that the people station platform comprises a people station bottom plate and a people station platform fence, and a control operation platform and an implement hanging box are arranged on one side of the people station platform fence.
6. Picking device adaptable to different row spacings according to claim 1, characterized in that the people station platform is provided with foot operated pedals comprising a first foot pedal, a second foot pedal and a third foot pedal.
7. The picking device applicable to different row spacings according to claim 1, wherein the lifting unit further comprises an oil cylinder, the telescopic end of the oil cylinder is connected with an upper oil cylinder support, the fixed end of the oil cylinder is connected with a lower oil cylinder support, two ends of the upper oil cylinder support are connected with the first scissor-fork type lifting mechanism, and two ends of the lower oil cylinder support are connected and fixed with the frame.
8. A picking device adaptable to different row spacings according to claim 7, characterised in that the lifting unit further comprises an oil cylinder support rod, the oil cylinder support rod is of a left and right double-disc type structure, the telescopic end of the oil cylinder is connected with one end of the oil cylinder support rod, and the other end of the oil cylinder support rod is connected with the upper oil cylinder support.
9. The picking device adaptable to different row spacings of claim 1, wherein the track chassis comprises tracks, driving sprockets, reducers, motors, batteries, tension wheels, connecting plates, driven sprockets, bearing wheels;
the driving chain wheel is arranged at one end of the crawler chassis, the outer teeth of the driving chain wheel are meshed with the inner teeth of the crawler, the driving chain wheel is connected with the speed reducer, the speed reducer is connected with the motor, the storage battery is connected with the motor, the tensioning wheel is arranged at the rear side of the motor, the tensioning wheel is connected with the connecting plate, the driven chain wheel is arranged at the other end of the crawler chassis, the outer teeth of the driven chain wheel are meshed with the inner teeth of the crawler, and the bearing wheel is arranged at the bottom of the crawler chassis.
10. Picking apparatus adaptable to different row spacings according to claim 1, characterised in that the crawler chassis further comprises a hydraulic station comprising an oil pipe, a hydraulic pump, a hydraulic valve.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029122.9A CN111213489A (en) | 2020-01-12 | 2020-01-12 | Picking device adaptable to different row spacing |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010029122.9A CN111213489A (en) | 2020-01-12 | 2020-01-12 | Picking device adaptable to different row spacing |
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| CN111213489A true CN111213489A (en) | 2020-06-02 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN202010029122.9A Pending CN111213489A (en) | 2020-01-12 | 2020-01-12 | Picking device adaptable to different row spacing |
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| CN (1) | CN111213489A (en) |
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| CN112918581A (en) * | 2021-03-02 | 2021-06-08 | 中国科学院重庆绿色智能技术研究院 | Hillside orchard unmanned operation platform |
| CN113044761A (en) * | 2021-04-27 | 2021-06-29 | 北京安达维尔航空设备有限公司 | Lifting device based on Mecanum wheel |
| CN113057083A (en) * | 2021-03-25 | 2021-07-02 | 张德可 | Auxiliary transplanting device for forestry nursery stocks |
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